JP2013063048A - Motor control device for electric farm working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress battery consumption in a two-motor type electric farm working vehicle including separately an electric motor for power that generates traveling power and working power, and an electric motor for a hydraulic pump that drives the hydraulic pump.SOLUTION: An electric riding rice transplanter includes a planting working machine 3 liftably connected to a traveling machine body 1; a working machine lifting hydraulic cylinder 4 lifting the planting working machine 3; the hydraulic pump 15 supplying pressure oil to the working machine lifting hydraulic cylinder 4; the electric motor 5B for the hydraulic pump that drives the hydraulic pump 15; the electric motor 5A for power that generates traveling power and working power; and a motor control device 23 controlling driving of the electric motor 5A for power and the electric motor 5B for the hydraulic pump. The motor control device 23 detects the lifting operation fixed state of the planting working machine 3, and stops driving of the electric motor 5B for the hydraulic pump when the planting working machine 3 is in the lifting operation fixed state.

Description

  The present invention relates to a motor control device for an electric farm vehicle that operates with the power of an electric motor.

  In recent years, electrification of agricultural vehicles has been proposed. For example, Patent Document 1 discloses an agricultural vehicle (passenger rice transplanter) configured to transmit power of an electric motor to wheels and a work machine. And as this kind of electric farm work vehicle, a two-motor system or a single electric motor each having a power electric motor for generating traveling power and work power and a hydraulic pump electric motor for driving a hydraulic pump separately. There is known a one-motor system that serves both as an electric motor for power and an electric motor for a hydraulic pump.

JP 2007-189912 A

  The two-motor electric farm vehicle is a hydraulic cylinder for raising and lowering the work implement by continuing to drive the electric motor for the hydraulic pump even when the vehicle running is stopped based on the stop control of the power electric motor. Although there is an advantage that the working machine can be arbitrarily moved up and down by operating the motor, there is a possibility that the consumption of the battery may be increased by driving the electric motor for the hydraulic pump.

The present invention has been created in order to solve these problems in view of the above circumstances, and includes a traveling machine body, a working machine connected to the traveling machine body so as to be movable up and down, and the working machine. A hydraulic cylinder for lifting and lowering the working machine, a hydraulic pump for supplying pressure oil to the hydraulic cylinder for lifting and lowering the working machine, an electric motor for a hydraulic pump for driving the hydraulic pump, and a power for generating traveling power and working power In an electric agricultural work vehicle including an electric motor and a motor control device that controls driving of a power electric motor and an electric motor for a hydraulic pump, the motor control device detects a fixed state of the lifting operation of the work implement and When the machine is in the fixed lifting / lowering state, the drive of the electric motor for the hydraulic pump is stopped.
In addition, a hydraulic power steering device that assists a steering handle operation with pressure oil supplied from the hydraulic pump is provided, and the motor control device operates the steering handle even when the work implement is in a fixed lifting and lowering state. In some cases, an electric motor for a hydraulic pump is driven.
In addition, the motor control device steers the drive speed of the hydraulic pump electric motor when the steering handle is operated, even when the work implement is fixed in the lifting / lowering operation state. The speed is increased in accordance with an increase in the turning angle of the handle.

According to the first aspect of the invention, while the electric farm work vehicle of the two-motor system, each having a power electric motor for generating driving power and work power and a hydraulic pump electric motor for driving the hydraulic pump, When the work implement is in the lifting / lowering operation fixed state, the drive of the electric motor for the hydraulic pump is suspended, so that battery consumption can be suppressed.
According to the second aspect of the present invention, even when the work implement is in the lifting / lowering operation fixed state, the hydraulic pump electric motor is driven when the steering handle is operated. The assist of steering wheel operation by the device can be made effective. On the other hand, when the vehicle is going straight ahead when the steering wheel is not operated, the assist by the hydraulic power steering device may be invalidated and the steering wheel operation may become heavy. However, there is an advantage that the straightness is improved by suppressing the fluctuation. .
According to the invention of claim 3, since the driving speed of the electric motor for the hydraulic pump is increased in accordance with the increase in the turning angle of the steering handle, the steering handle operation assist by the hydraulic power steering device is appropriately executed. In addition to this, it is possible to suppress battery consumption as compared with the case where the drive speed of the electric motor for the hydraulic pump is increased to the rated speed at a stroke regardless of the turning angle of the steering handle.

It is a left view of an electric riding rice transplanter. It is a perspective view which shows the upper part of the traveling body which removed the bonnet. It is a perspective view which shows the upper part of the traveling body which removed the covers. It is a perspective view which shows a motor mounting part. It is a top view which shows a motor mounting part. It is a top view of the motor mounting part which removed the steering handle and covers. It is a left view of a motor mounting part. It is a right view of a motor mounting part. It is a left view which shows schematic structure of a steering operation mechanism. It is a block diagram which shows the input / output of a motor control apparatus. It is a graph which shows the relationship between a handle | steering-wheel rotation angle and pump rotation speed. It is a flowchart which shows the control procedure of pump motor control.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In FIG. 1, reference numeral 1 denotes a traveling machine body of an electric riding rice transplanter (electric farm work vehicle), and a planting work machine 3 is connected to a rear portion of the traveling machine body 1 via a lifting link mechanism 2. The planting work machine 3 is configured to perform the planting work in a descending grounding state, and according to the expansion and contraction of the working machine lifting / lowering hydraulic cylinder 4 interposed between the traveling machine body 1 and the lifting / lowering link mechanism 2. To go up and down.

  The traveling machine body 1 includes a motor mounting portion 6 on which an electric motor 5 is mounted, a transmission case 7 for shifting the power of a power electric motor 5A, an operation portion 8 on which an operator gets on, a front wheel 9 serving as a steering wheel and a driving wheel, driving It is a passenger-type four-wheel vehicle including a rear wheel 10 that is a wheel, and includes a driver seat 11 on which an operator sits, a steering handle 12 that steers the front wheels 9, a main transmission lever 13 that performs a traveling shift operation, A work machine operating lever 14 for performing the lifting operation of the planting machine 3 and the intermittent operation of the planting clutch is provided.

  As shown in FIGS. 2 to 8, two electric motors 5 </ b> A and 5 </ b> B are mounted on the motor mounting portion 6. One is a power electric motor 5 </ b> A that generates traveling power and work power, and the other is a hydraulic pump electric motor 5 </ b> B that drives a hydraulic pump 15. The power of the electric motor 5B for the hydraulic pump is input to the pump shaft 15a of the hydraulic pump 15 via the transmission belt 16, and the power of the electric motor 5A for the power is input to the input shaft of the transmission case 7 via the transmission belt 17. 7a.

  In addition, although illustration is abbreviate | omitted, in the mission case 7, in addition to the input shaft 7a, transmission shafts, such as a planting transmission shaft and a traveling transmission shaft, are provided. The power input to the input shaft 7a from the power electric motor 5A is transmitted to the planting transmission shaft via the inter-shaft transmission mechanism, and from the planting transmission shaft to the planting PTO via the torque limiter and the planting clutch. It is transmitted to the shaft. The power extracted from the planting PTO shaft is transmitted to the planting work machine 3 via a transmission mechanism outside the mission case 7.

  Further, the power input from the power electric motor 5A to the input shaft 7a is transmitted to the travel transmission shaft via the auxiliary transmission mechanism. The power transmitted to the travel transmission shaft is transmitted to the left and right front wheel drive shafts via the front wheel differential mechanism and is also transmitted to the travel PTO shaft. The power extracted from the traveling PTO shaft is transmitted to the rear axle case 18 via a transmission mechanism outside the transmission case 7.

  The hydraulic pump 15 driven by the electric motor 5B for the hydraulic pump supplies pressure oil to the above-described hydraulic cylinder 4 for raising / lowering the work implement and the hydraulic power steering device 19. The working machine lifting / lowering hydraulic cylinder 4 expands and contracts according to the switching operation of the hydraulic valve based on the operation of the work machine operating lever 14. For example, the work machine operation lever 14 of the present embodiment has four operation positions of “up”, “fixed”, “automatic lifting / lowering”, and “planting”. The lifting / lowering hydraulic cylinder 4 operates in the working machine ascending direction and the planting clutch is disengaged. In the “fixed” position, the working machine lifting / lowering hydraulic cylinder 4 is stopped and the planting clutch is disengaged. In the “automatic lifting (lowering)” position, the hydraulic cylinder 4 for lifting and lowering the work implement is automatically controlled (a state in which the expansion and contraction is automatically controlled according to the vertical movement of the sensing float 20) and the planting clutch is in a disengaged state. In the “planting” position, the working machine elevating hydraulic cylinder 4 is automatically controlled and the planting clutch is engaged.

  The “elevating / lowering operation fixed state” described in the claims means a state in which the planting work machine 3 can maintain the current elevating position even when the pressure oil supply from the hydraulic pump 15 is stopped. This means that in the present embodiment, the working machine operation lever 14 is in the “fixed” position.

  As shown in FIG. 9, the hydraulic power steering device 19 is configured using, for example, a torque generator 19a. The torque generator 19a converts a small torque input from the steering handle 12 via the handle shaft 12a into a large torque by hydraulic pressure, and operates the speed reduction mechanism 21 and the pitman arm 22 with this torque to steer the front wheels 9. Is. The torque generator 19a allows the front wheel 9 to be steered by the steering handle 12 even when the pressure oil supply from the hydraulic pump 15 is stopped. The operation load of the operation increases.

  As shown in FIG. 10, the traveling machine body 1 is provided with a motor control device 23 configured using a microcomputer or the like. On the input side of the motor control device 23, a main transmission lever sensor 24 that detects the operation position of the main transmission lever 13, a work machine operation lever sensor 25 that detects the operation position of the work machine operation lever 14, and the rotation angle of the steering handle 12. Is connected to the output side of the motor control device 23, and an electric motor 5A for power and an electric motor 5B for hydraulic pump are connected to the output side of the motor control device 23.

  As a control program, the motor control device 23 controls power motor control for controlling driving of the electric motor 5A for power according to the operation position of the main speed change lever 13, operation positions of the work implement operation lever 14, and operations of the steering handle 12. Accordingly, a pump motor control for controlling the driving of the electric motor 5B for the hydraulic pump is provided. Hereinafter, an outline of pump motor control and a specific control procedure which are the features of the present invention will be described. In the power motor control, since the same control as before is performed, a detailed description of the control procedure is omitted.

  The motor control device 23 according to the embodiment of the present invention detects the fixed lifting state of the planting work machine 3 and controls the lifting work machine 3 to fix the lifting operation when controlling the driving of the electric motor 5B for the hydraulic pump. In the state, the drive of the electric motor 5B for the hydraulic pump is suspended. For example, when the operation position of the work machine operation lever 14 is the “fixed” position, it is determined that the planting work machine 3 is in the lifting / lowering operation fixed state, and the drive of the electric motor 5B for the hydraulic pump is suspended. In this way, although it is a two-motor electric farm vehicle that includes a power electric motor 5A that generates traveling power and work power and a hydraulic pump electric motor 5B that drives the hydraulic pump 15, respectively, When the auxiliary work machine 3 is in the lifting / lowering operation fixed state, the electric motor 5B for the hydraulic pump is stopped, so that battery consumption can be suppressed.

  Further, the motor control device 23 drives the hydraulic motor 5B for the hydraulic pump when the steering handle 12 is operated even when the planting work machine 3 is in the fixed lifting / lowering state. In this way, the driving of the hydraulic pump electric motor 5B is stopped when the planting work machine 3 is fixed in the up-and-down movement state, and the steering handle operation is assisted by the hydraulic power steering device 19 during turning of the machine body. Can be enabled. On the other hand, when the vehicle is going straight ahead when the steering handle 12 is not operated, the assist by the hydraulic power steering device 19 may be invalidated and the steering wheel operation may become heavy, but with this, the flutter is suppressed and the straight running performance is improved. There is.

  In addition, even when the planting work machine 3 is in the lifting / lowering operation fixed state, the motor control device 23 is configured to drive the hydraulic pump electric motor 5B when the steering handle 12 is operated. The driving speed of 5B is increased according to an increase in the turning angle of the steering handle 12 (hereinafter referred to as a steering wheel rotation angle as appropriate). For example, as shown in FIG. 11, when the handle rotation angle θ is in the range of 0 ° to a predetermined angle θ1, the drive suspension state of the hydraulic pump electric motor 5B is maintained, and the handle rotation angle θ is set to a predetermined angle θ1. In the range up to θ2 (hereinafter referred to as “range A” as appropriate), the driving speed of the electric motor 5B for the hydraulic pump is gradually increased as the handle rotation angle θ increases, and the handle rotation angle θ is set to a predetermined angle θ2. In the range up to θ3 (hereinafter referred to as “range B” as appropriate), the drive speed of the electric motor 5B for the hydraulic pump is rapidly increased as the handle rotation angle θ increases. In this way, not only can the steering wheel operation assist by the hydraulic power steering device 19 be performed appropriately, but the driving speed of the electric motor 5B for the hydraulic pump can be set to the rated speed all at once regardless of the turning angle of the steering handle 12. Battery consumption can be suppressed compared to the case where the voltage is raised to the maximum.

FIG. 12 is a flowchart showing a control procedure of pump motor control.
As shown in this figure, in the pump motor control, first, the operating position of the work implement operating lever 14 is determined (S1). Here, when the operating position of the work implement operating lever 14 is other than the “fixed” position, a predetermined rated speed is set as the target driving speed of the electric motor 5B for the hydraulic pump (S2), and according to the target driving speed. The motor drive signal is output to the hydraulic motor 5B for the hydraulic pump (S3). On the other hand, when the operation position of the work implement operation lever 14 is the “fixed” position, the operation of the steering handle 12 is determined (S4). Here, when it is determined that the steering handle 12 is not operated (the handle operation angle). θ is equal to or less than θ1), the stop speed is set to the target drive speed of the hydraulic motor 5B for hydraulic pump (S5), and the drive of the electric motor 5B for hydraulic pump is stopped (S3). On the other hand, when it is determined that the steering wheel 12 is operated, the size of the steering wheel operation angle θ is determined (S6). Here, when it is determined that the steering wheel operation angle θ is small (the steering wheel operation angle θ is within the range A). A value obtained by multiplying the current steering wheel operation angle θ by a predetermined gain α is set as a target drive speed (S7), and the hydraulic pump electric motor 5B is driven at a low speed (S3). When it is determined that the steering wheel operation angle θ is large (the steering wheel operation angle θ is included in the range B), a value obtained by multiplying the current steering wheel operation angle θ by a predetermined gain β (β> α) is set as the target driving speed. (S8), and the hydraulic pump electric motor 5B is driven at medium speed or high speed (S3).

  According to the present embodiment configured as described, the traveling machine body 1, the planting work machine 3 connected to the traveling machine body 1 so as to be raised and lowered, and the working machine lifting / lowering hydraulic pressure for raising and lowering the planting work machine 3 A cylinder 4, a hydraulic pump 15 for supplying pressure oil to the hydraulic cylinder 4 for raising and lowering the working machine, an electric motor 5B for the hydraulic pump for driving the hydraulic pump 15, and an electric motor for power for generating traveling power and working power 5A and a motor control device 23 that controls the driving of the electric motor 5A for power and the electric motor 5B for hydraulic pump, in the electric riding rice transplanter, the motor control device 23 is fixed in the lifting operation fixed state of the planting work machine 3 When the planting work machine 3 is in the lifting / lowering operation fixed state, the drive of the electric motor 5B for the hydraulic pump is suspended, so that battery consumption can be suppressed.

  In addition, a hydraulic power steering device 19 that assists the steering handle operation with the pressure oil supplied from the hydraulic pump 15 is provided, and the motor control device 23 allows the steering handle to be operated even when the planting work machine 3 is in the lifting / lowering operation fixed state. When 12 is operated, the hydraulic motor 5B for hydraulic pump is driven, so that the steering handle operation assist by the hydraulic power steering device 19 can be validated when the aircraft is turning. On the other hand, when the vehicle is going straight ahead when the steering handle 12 is not operated, the assist by the hydraulic power steering device 19 may be invalidated and the steering wheel operation may become heavy, but with this, the flutter is suppressed and the straight running performance is improved. There is.

  In addition, even when the planting work machine 3 is in the lifting / lowering operation fixed state, the motor control device 23 is configured to drive the hydraulic pump electric motor 5B when the steering handle 12 is operated. Since the driving speed of 5B is increased in accordance with the increase in the turning angle of the steering handle 12, not only can the steering wheel operation assist by the hydraulic power steering device 19 be performed properly, but also the electric motor 5B for the hydraulic pump As compared with the case where the driving speed is increased to the rated speed all at once regardless of the turning angle of the steering handle 12, the battery consumption can be suppressed.

  Needless to say, the present invention is not limited to the above-described embodiment, and can be appropriately changed within the scope of the claims. For example, in the above embodiment, the electric riding rice transplanter is illustrated as the electric farm work vehicle according to the present invention, but the present invention can also be applied to an electric farm work vehicle (for example, an electric riding management machine) other than the electric riding rice transplanter.

DESCRIPTION OF SYMBOLS 1 Traveling machine body 3 Planting work machine 4 Hydraulic cylinder 5A for raising / lowering work machine Electric motor 5B for power pump Electric motor 12 for a hydraulic pump Steering handle 13 Main shift lever 14 Work machine operating lever 15 Hydraulic pump 19 Hydraulic power steering device 23 Motor control Device 24 Main transmission lever sensor 25 Work implement operation lever sensor 26 Handle sensor

Claims (3)

A traveling machine body, a working machine connected to the traveling machine body so as to be movable up and down, a working machine lifting hydraulic cylinder that lifts and lowers the working machine, a hydraulic pump that supplies pressure oil to the working machine lifting hydraulic cylinder, Electric farm work comprising: an electric motor for a hydraulic pump that drives a hydraulic pump; an electric motor for driving that generates traveling power and working power; and a motor control device that controls the driving of the electric motor for power and the electric motor for hydraulic pump. In the car,
The motor control device detects a fixed state of the lifting / lowering operation of the work machine and, when the working machine is in the fixed lifting / lowering state, stops driving the electric motor for the hydraulic pump. apparatus. A hydraulic power steering device that assists steering wheel operation with pressure oil supplied from the hydraulic pump;
2. The motor for an electric agricultural work vehicle according to claim 1, wherein the motor control device drives an electric motor for a hydraulic pump when the steering handle is operated even when the work machine is in a fixed lifting operation state. 3. Control device.   When the steering handle is operated even when the work machine is in the fixed lifting / lowering state, the motor control device controls the driving speed of the hydraulic pump electric motor when the steering handle is operated. 3. The motor control device for an electric farm vehicle according to claim 2, wherein the speed is increased according to an increase in the turning angle.

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